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use crate::{
primitives::{Primitive2d, Primitive3d},
Quat, Rot2, Vec2, Vec3, Vec3A,
};
use core::f32::consts::FRAC_1_SQRT_2;
#[cfg(feature = "bevy_reflect")]
use bevy_reflect::Reflect;
#[cfg(all(feature = "serialize", feature = "bevy_reflect"))]
use bevy_reflect::{ReflectDeserialize, ReflectSerialize};
/// An error indicating that a direction is invalid.
#[derive(Debug, PartialEq)]
pub enum InvalidDirectionError {
/// The length of the direction vector is zero or very close to zero.
Zero,
/// The length of the direction vector is `std::f32::INFINITY`.
Infinite,
/// The length of the direction vector is `NaN`.
NaN,
}
impl InvalidDirectionError {
/// Creates an [`InvalidDirectionError`] from the length of an invalid direction vector.
pub fn from_length(length: f32) -> Self {
if length.is_nan() {
InvalidDirectionError::NaN
} else if !length.is_finite() {
// If the direction is non-finite but also not NaN, it must be infinite
InvalidDirectionError::Infinite
} else {
// If the direction is invalid but neither NaN nor infinite, it must be zero
InvalidDirectionError::Zero
}
}
}
impl std::fmt::Display for InvalidDirectionError {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
write!(
f,
"Direction can not be zero (or very close to zero), or non-finite."
)
}
}
/// Checks that a vector with the given squared length is normalized.
///
/// Warns for small error with a length threshold of approximately `1e-4`,
/// and panics for large error with a length threshold of approximately `1e-2`.
///
/// The format used for the logged warning is `"Warning: {warning} The length is {length}`,
/// and similarly for the error.
#[cfg(debug_assertions)]
fn assert_is_normalized(message: &str, length_squared: f32) {
let length_error_squared = (length_squared - 1.0).abs();
// Panic for large error and warn for slight error.
if length_error_squared > 2e-2 || length_error_squared.is_nan() {
// Length error is approximately 1e-2 or more.
panic!("Error: {message} The length is {}.", length_squared.sqrt());
} else if length_error_squared > 2e-4 {
// Length error is approximately 1e-4 or more.
eprintln!(
"Warning: {message} The length is {}.",
length_squared.sqrt()
);
}
}
/// A normalized vector pointing in a direction in 2D space
#[deprecated(
since = "0.14.0",
note = "`Direction2d` has been renamed. Please use `Dir2` instead."
)]
pub type Direction2d = Dir2;
/// A normalized vector pointing in a direction in 3D space
#[deprecated(
since = "0.14.0",
note = "`Direction3d` has been renamed. Please use `Dir3` instead."
)]
pub type Direction3d = Dir3;
/// A normalized vector pointing in a direction in 2D space
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Debug, PartialEq))]
#[cfg_attr(
all(feature = "serialize", feature = "bevy_reflect"),
reflect(Serialize, Deserialize)
)]
#[doc(alias = "Direction2d")]
pub struct Dir2(Vec2);
impl Primitive2d for Dir2 {}
impl Dir2 {
/// A unit vector pointing along the positive X axis.
pub const X: Self = Self(Vec2::X);
/// A unit vector pointing along the positive Y axis.
pub const Y: Self = Self(Vec2::Y);
/// A unit vector pointing along the negative X axis.
pub const NEG_X: Self = Self(Vec2::NEG_X);
/// A unit vector pointing along the negative Y axis.
pub const NEG_Y: Self = Self(Vec2::NEG_Y);
/// The directional axes.
pub const AXES: [Self; 2] = [Self::X, Self::Y];
/// The "north" direction, equivalent to [`Dir2::Y`].
pub const NORTH: Self = Self(Vec2::Y);
/// The "south" direction, equivalent to [`Dir2::NEG_Y`].
pub const SOUTH: Self = Self(Vec2::NEG_Y);
/// The "east" direction, equivalent to [`Dir2::X`].
pub const EAST: Self = Self(Vec2::X);
/// The "west" direction, equivalent to [`Dir2::NEG_X`].
pub const WEST: Self = Self(Vec2::NEG_X);
/// The "north-east" direction, between [`Dir2::NORTH`] and [`Dir2::EAST`].
pub const NORTH_EAST: Self = Self(Vec2::new(FRAC_1_SQRT_2, FRAC_1_SQRT_2));
/// The "north-west" direction, between [`Dir2::NORTH`] and [`Dir2::WEST`].
pub const NORTH_WEST: Self = Self(Vec2::new(-FRAC_1_SQRT_2, FRAC_1_SQRT_2));
/// The "south-east" direction, between [`Dir2::SOUTH`] and [`Dir2::EAST`].
pub const SOUTH_EAST: Self = Self(Vec2::new(FRAC_1_SQRT_2, -FRAC_1_SQRT_2));
/// The "south-west" direction, between [`Dir2::SOUTH`] and [`Dir2::WEST`].
pub const SOUTH_WEST: Self = Self(Vec2::new(-FRAC_1_SQRT_2, -FRAC_1_SQRT_2));
/// Create a direction from a finite, nonzero [`Vec2`], normalizing it.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new(value: Vec2) -> Result<Self, InvalidDirectionError> {
Self::new_and_length(value).map(|(dir, _)| dir)
}
/// Create a [`Dir2`] from a [`Vec2`] that is already normalized.
///
/// # Warning
///
/// `value` must be normalized, i.e its length must be `1.0`.
pub fn new_unchecked(value: Vec2) -> Self {
#[cfg(debug_assertions)]
assert_is_normalized(
"The vector given to `Dir2::new_unchecked` is not normalized.",
value.length_squared(),
);
Self(value)
}
/// Create a direction from a finite, nonzero [`Vec2`], normalizing it and
/// also returning its original length.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new_and_length(value: Vec2) -> Result<(Self, f32), InvalidDirectionError> {
let length = value.length();
let direction = (length.is_finite() && length > 0.0).then_some(value / length);
direction
.map(|dir| (Self(dir), length))
.ok_or(InvalidDirectionError::from_length(length))
}
/// Create a direction from its `x` and `y` components.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the vector formed by the components is zero (or very close to zero), infinite, or `NaN`.
pub fn from_xy(x: f32, y: f32) -> Result<Self, InvalidDirectionError> {
Self::new(Vec2::new(x, y))
}
/// Returns the inner [`Vec2`]
pub const fn as_vec2(&self) -> Vec2 {
self.0
}
/// Performs a spherical linear interpolation between `self` and `rhs`
/// based on the value `s`.
///
/// This corresponds to interpolating between the two directions at a constant angular velocity.
///
/// When `s == 0.0`, the result will be equal to `self`.
/// When `s == 1.0`, the result will be equal to `rhs`.
///
/// # Example
///
/// ```
/// # use bevy_math::Dir2;
/// # use approx::{assert_relative_eq, RelativeEq};
/// #
/// let dir1 = Dir2::X;
/// let dir2 = Dir2::Y;
///
/// let result1 = dir1.slerp(dir2, 1.0 / 3.0);
/// assert_relative_eq!(result1, Dir2::from_xy(0.75_f32.sqrt(), 0.5).unwrap());
///
/// let result2 = dir1.slerp(dir2, 0.5);
/// assert_relative_eq!(result2, Dir2::from_xy(0.5_f32.sqrt(), 0.5_f32.sqrt()).unwrap());
/// ```
#[inline]
pub fn slerp(self, rhs: Self, s: f32) -> Self {
let angle = self.angle_between(rhs.0);
Rot2::radians(angle * s) * self
}
/// Get the rotation that rotates this direction to `other`.
#[inline]
pub fn rotation_to(self, other: Self) -> Rot2 {
// Rotate `self` to X-axis, then X-axis to `other`:
other.rotation_from_x() * self.rotation_to_x()
}
/// Get the rotation that rotates `other` to this direction.
#[inline]
pub fn rotation_from(self, other: Self) -> Rot2 {
other.rotation_to(self)
}
/// Get the rotation that rotates the X-axis to this direction.
#[inline]
pub fn rotation_from_x(self) -> Rot2 {
Rot2::from_sin_cos(self.0.y, self.0.x)
}
/// Get the rotation that rotates this direction to the X-axis.
#[inline]
pub fn rotation_to_x(self) -> Rot2 {
// (This is cheap, it just negates one component.)
self.rotation_from_x().inverse()
}
/// Get the rotation that rotates the Y-axis to this direction.
#[inline]
pub fn rotation_from_y(self) -> Rot2 {
// `x <- y`, `y <- -x` correspond to rotating clockwise by pi/2;
// this transforms the Y-axis into the X-axis, maintaining the relative position
// of our direction. Then we just use the same technique as `rotation_from_x`.
Rot2::from_sin_cos(-self.0.x, self.0.y)
}
/// Get the rotation that rotates this direction to the Y-axis.
#[inline]
pub fn rotation_to_y(self) -> Rot2 {
self.rotation_from_y().inverse()
}
}
impl TryFrom<Vec2> for Dir2 {
type Error = InvalidDirectionError;
fn try_from(value: Vec2) -> Result<Self, Self::Error> {
Self::new(value)
}
}
impl From<Dir2> for Vec2 {
fn from(value: Dir2) -> Self {
value.as_vec2()
}
}
impl std::ops::Deref for Dir2 {
type Target = Vec2;
fn deref(&self) -> &Self::Target {
&self.0
}
}
impl std::ops::Neg for Dir2 {
type Output = Self;
fn neg(self) -> Self::Output {
Self(-self.0)
}
}
impl std::ops::Mul<f32> for Dir2 {
type Output = Vec2;
fn mul(self, rhs: f32) -> Self::Output {
self.0 * rhs
}
}
impl std::ops::Mul<Dir2> for f32 {
type Output = Vec2;
fn mul(self, rhs: Dir2) -> Self::Output {
self * rhs.0
}
}
impl std::ops::Mul<Dir2> for Rot2 {
type Output = Dir2;
/// Rotates the [`Dir2`] using a [`Rot2`].
fn mul(self, direction: Dir2) -> Self::Output {
let rotated = self * *direction;
#[cfg(debug_assertions)]
assert_is_normalized(
"`Dir2` is denormalized after rotation.",
rotated.length_squared(),
);
Dir2(rotated)
}
}
#[cfg(any(feature = "approx", test))]
impl approx::AbsDiffEq for Dir2 {
type Epsilon = f32;
fn default_epsilon() -> f32 {
f32::EPSILON
}
fn abs_diff_eq(&self, other: &Self, epsilon: f32) -> bool {
self.as_ref().abs_diff_eq(other.as_ref(), epsilon)
}
}
#[cfg(any(feature = "approx", test))]
impl approx::RelativeEq for Dir2 {
fn default_max_relative() -> f32 {
f32::EPSILON
}
fn relative_eq(&self, other: &Self, epsilon: f32, max_relative: f32) -> bool {
self.as_ref()
.relative_eq(other.as_ref(), epsilon, max_relative)
}
}
#[cfg(any(feature = "approx", test))]
impl approx::UlpsEq for Dir2 {
fn default_max_ulps() -> u32 {
4
}
fn ulps_eq(&self, other: &Self, epsilon: f32, max_ulps: u32) -> bool {
self.as_ref().ulps_eq(other.as_ref(), epsilon, max_ulps)
}
}
/// A normalized vector pointing in a direction in 3D space
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Debug, PartialEq))]
#[cfg_attr(
all(feature = "serialize", feature = "bevy_reflect"),
reflect(Serialize, Deserialize)
)]
#[doc(alias = "Direction3d")]
pub struct Dir3(Vec3);
impl Primitive3d for Dir3 {}
impl Dir3 {
/// A unit vector pointing along the positive X axis.
pub const X: Self = Self(Vec3::X);
/// A unit vector pointing along the positive Y axis.
pub const Y: Self = Self(Vec3::Y);
/// A unit vector pointing along the positive Z axis.
pub const Z: Self = Self(Vec3::Z);
/// A unit vector pointing along the negative X axis.
pub const NEG_X: Self = Self(Vec3::NEG_X);
/// A unit vector pointing along the negative Y axis.
pub const NEG_Y: Self = Self(Vec3::NEG_Y);
/// A unit vector pointing along the negative Z axis.
pub const NEG_Z: Self = Self(Vec3::NEG_Z);
/// The directional axes.
pub const AXES: [Self; 3] = [Self::X, Self::Y, Self::Z];
/// Create a direction from a finite, nonzero [`Vec3`], normalizing it.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new(value: Vec3) -> Result<Self, InvalidDirectionError> {
Self::new_and_length(value).map(|(dir, _)| dir)
}
/// Create a [`Dir3`] from a [`Vec3`] that is already normalized.
///
/// # Warning
///
/// `value` must be normalized, i.e its length must be `1.0`.
pub fn new_unchecked(value: Vec3) -> Self {
#[cfg(debug_assertions)]
assert_is_normalized(
"The vector given to `Dir3::new_unchecked` is not normalized.",
value.length_squared(),
);
Self(value)
}
/// Create a direction from a finite, nonzero [`Vec3`], normalizing it and
/// also returning its original length.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new_and_length(value: Vec3) -> Result<(Self, f32), InvalidDirectionError> {
let length = value.length();
let direction = (length.is_finite() && length > 0.0).then_some(value / length);
direction
.map(|dir| (Self(dir), length))
.ok_or(InvalidDirectionError::from_length(length))
}
/// Create a direction from its `x`, `y`, and `z` components.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the vector formed by the components is zero (or very close to zero), infinite, or `NaN`.
pub fn from_xyz(x: f32, y: f32, z: f32) -> Result<Self, InvalidDirectionError> {
Self::new(Vec3::new(x, y, z))
}
/// Returns the inner [`Vec3`]
pub const fn as_vec3(&self) -> Vec3 {
self.0
}
/// Performs a spherical linear interpolation between `self` and `rhs`
/// based on the value `s`.
///
/// This corresponds to interpolating between the two directions at a constant angular velocity.
///
/// When `s == 0.0`, the result will be equal to `self`.
/// When `s == 1.0`, the result will be equal to `rhs`.
///
/// # Example
///
/// ```
/// # use bevy_math::Dir3;
/// # use approx::{assert_relative_eq, RelativeEq};
/// #
/// let dir1 = Dir3::X;
/// let dir2 = Dir3::Y;
///
/// let result1 = dir1.slerp(dir2, 1.0 / 3.0);
/// assert_relative_eq!(
/// result1,
/// Dir3::from_xyz(0.75_f32.sqrt(), 0.5, 0.0).unwrap(),
/// epsilon = 0.000001
/// );
///
/// let result2 = dir1.slerp(dir2, 0.5);
/// assert_relative_eq!(result2, Dir3::from_xyz(0.5_f32.sqrt(), 0.5_f32.sqrt(), 0.0).unwrap());
/// ```
#[inline]
pub fn slerp(self, rhs: Self, s: f32) -> Self {
let quat = Quat::IDENTITY.slerp(Quat::from_rotation_arc(self.0, rhs.0), s);
Dir3(quat.mul_vec3(self.0))
}
}
impl TryFrom<Vec3> for Dir3 {
type Error = InvalidDirectionError;
fn try_from(value: Vec3) -> Result<Self, Self::Error> {
Self::new(value)
}
}
impl From<Dir3> for Vec3 {
fn from(value: Dir3) -> Self {
value.0
}
}
impl std::ops::Deref for Dir3 {
type Target = Vec3;
fn deref(&self) -> &Self::Target {
&self.0
}
}
impl std::ops::Neg for Dir3 {
type Output = Self;
fn neg(self) -> Self::Output {
Self(-self.0)
}
}
impl std::ops::Mul<f32> for Dir3 {
type Output = Vec3;
fn mul(self, rhs: f32) -> Self::Output {
self.0 * rhs
}
}
impl std::ops::Mul<Dir3> for f32 {
type Output = Vec3;
fn mul(self, rhs: Dir3) -> Self::Output {
self * rhs.0
}
}
impl std::ops::Mul<Dir3> for Quat {
type Output = Dir3;
/// Rotates the [`Dir3`] using a [`Quat`].
fn mul(self, direction: Dir3) -> Self::Output {
let rotated = self * *direction;
#[cfg(debug_assertions)]
assert_is_normalized(
"`Dir3` is denormalized after rotation.",
rotated.length_squared(),
);
Dir3(rotated)
}
}
#[cfg(feature = "approx")]
impl approx::AbsDiffEq for Dir3 {
type Epsilon = f32;
fn default_epsilon() -> f32 {
f32::EPSILON
}
fn abs_diff_eq(&self, other: &Self, epsilon: f32) -> bool {
self.as_ref().abs_diff_eq(other.as_ref(), epsilon)
}
}
#[cfg(feature = "approx")]
impl approx::RelativeEq for Dir3 {
fn default_max_relative() -> f32 {
f32::EPSILON
}
fn relative_eq(&self, other: &Self, epsilon: f32, max_relative: f32) -> bool {
self.as_ref()
.relative_eq(other.as_ref(), epsilon, max_relative)
}
}
#[cfg(feature = "approx")]
impl approx::UlpsEq for Dir3 {
fn default_max_ulps() -> u32 {
4
}
fn ulps_eq(&self, other: &Self, epsilon: f32, max_ulps: u32) -> bool {
self.as_ref().ulps_eq(other.as_ref(), epsilon, max_ulps)
}
}
/// A normalized SIMD vector pointing in a direction in 3D space.
///
/// This type stores a 16 byte aligned [`Vec3A`].
/// This may or may not be faster than [`Dir3`]: make sure to benchmark!
#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serialize", derive(serde::Serialize, serde::Deserialize))]
#[cfg_attr(feature = "bevy_reflect", derive(Reflect), reflect(Debug, PartialEq))]
#[cfg_attr(
all(feature = "serialize", feature = "bevy_reflect"),
reflect(Serialize, Deserialize)
)]
#[doc(alias = "Direction3dA")]
pub struct Dir3A(Vec3A);
impl Primitive3d for Dir3A {}
impl Dir3A {
/// A unit vector pointing along the positive X axis.
pub const X: Self = Self(Vec3A::X);
/// A unit vector pointing along the positive Y axis.
pub const Y: Self = Self(Vec3A::Y);
/// A unit vector pointing along the positive Z axis.
pub const Z: Self = Self(Vec3A::Z);
/// A unit vector pointing along the negative X axis.
pub const NEG_X: Self = Self(Vec3A::NEG_X);
/// A unit vector pointing along the negative Y axis.
pub const NEG_Y: Self = Self(Vec3A::NEG_Y);
/// A unit vector pointing along the negative Z axis.
pub const NEG_Z: Self = Self(Vec3A::NEG_Z);
/// The directional axes.
pub const AXES: [Self; 3] = [Self::X, Self::Y, Self::Z];
/// Create a direction from a finite, nonzero [`Vec3A`], normalizing it.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new(value: Vec3A) -> Result<Self, InvalidDirectionError> {
Self::new_and_length(value).map(|(dir, _)| dir)
}
/// Create a [`Dir3A`] from a [`Vec3A`] that is already normalized.
///
/// # Warning
///
/// `value` must be normalized, i.e its length must be `1.0`.
pub fn new_unchecked(value: Vec3A) -> Self {
#[cfg(debug_assertions)]
assert_is_normalized(
"The vector given to `Dir3A::new_unchecked` is not normalized.",
value.length_squared(),
);
Self(value)
}
/// Create a direction from a finite, nonzero [`Vec3A`], normalizing it and
/// also returning its original length.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the given vector is zero (or very close to zero), infinite, or `NaN`.
pub fn new_and_length(value: Vec3A) -> Result<(Self, f32), InvalidDirectionError> {
let length = value.length();
let direction = (length.is_finite() && length > 0.0).then_some(value / length);
direction
.map(|dir| (Self(dir), length))
.ok_or(InvalidDirectionError::from_length(length))
}
/// Create a direction from its `x`, `y`, and `z` components.
///
/// Returns [`Err(InvalidDirectionError)`](InvalidDirectionError) if the length
/// of the vector formed by the components is zero (or very close to zero), infinite, or `NaN`.
pub fn from_xyz(x: f32, y: f32, z: f32) -> Result<Self, InvalidDirectionError> {
Self::new(Vec3A::new(x, y, z))
}
/// Returns the inner [`Vec3A`]
pub const fn as_vec3a(&self) -> Vec3A {
self.0
}
/// Performs a spherical linear interpolation between `self` and `rhs`
/// based on the value `s`.
///
/// This corresponds to interpolating between the two directions at a constant angular velocity.
///
/// When `s == 0.0`, the result will be equal to `self`.
/// When `s == 1.0`, the result will be equal to `rhs`.
///
/// # Example
///
/// ```
/// # use bevy_math::Dir3A;
/// # use approx::{assert_relative_eq, RelativeEq};
/// #
/// let dir1 = Dir3A::X;
/// let dir2 = Dir3A::Y;
///
/// let result1 = dir1.slerp(dir2, 1.0 / 3.0);
/// assert_relative_eq!(
/// result1,
/// Dir3A::from_xyz(0.75_f32.sqrt(), 0.5, 0.0).unwrap(),
/// epsilon = 0.000001
/// );
///
/// let result2 = dir1.slerp(dir2, 0.5);
/// assert_relative_eq!(result2, Dir3A::from_xyz(0.5_f32.sqrt(), 0.5_f32.sqrt(), 0.0).unwrap());
/// ```
#[inline]
pub fn slerp(self, rhs: Self, s: f32) -> Self {
let quat = Quat::IDENTITY.slerp(
Quat::from_rotation_arc(Vec3::from(self.0), Vec3::from(rhs.0)),
s,
);
Dir3A(quat.mul_vec3a(self.0))
}
}
impl From<Dir3> for Dir3A {
fn from(value: Dir3) -> Self {
Self(value.0.into())
}
}
impl From<Dir3A> for Dir3 {
fn from(value: Dir3A) -> Self {
Self(value.0.into())
}
}
impl TryFrom<Vec3A> for Dir3A {
type Error = InvalidDirectionError;
fn try_from(value: Vec3A) -> Result<Self, Self::Error> {
Self::new(value)
}
}
impl From<Dir3A> for Vec3A {
fn from(value: Dir3A) -> Self {
value.0
}
}
impl std::ops::Deref for Dir3A {
type Target = Vec3A;
fn deref(&self) -> &Self::Target {
&self.0
}
}
impl std::ops::Neg for Dir3A {
type Output = Self;
fn neg(self) -> Self::Output {
Self(-self.0)
}
}
impl std::ops::Mul<f32> for Dir3A {
type Output = Vec3A;
fn mul(self, rhs: f32) -> Self::Output {
self.0 * rhs
}
}
impl std::ops::Mul<Dir3A> for f32 {
type Output = Vec3A;
fn mul(self, rhs: Dir3A) -> Self::Output {
self * rhs.0
}
}
impl std::ops::Mul<Dir3A> for Quat {
type Output = Dir3A;
/// Rotates the [`Dir3A`] using a [`Quat`].
fn mul(self, direction: Dir3A) -> Self::Output {
let rotated = self * *direction;
#[cfg(debug_assertions)]
assert_is_normalized(
"`Dir3A` is denormalized after rotation.",
rotated.length_squared(),
);
Dir3A(rotated)
}
}
#[cfg(feature = "approx")]
impl approx::AbsDiffEq for Dir3A {
type Epsilon = f32;
fn default_epsilon() -> f32 {
f32::EPSILON
}
fn abs_diff_eq(&self, other: &Self, epsilon: f32) -> bool {
self.as_ref().abs_diff_eq(other.as_ref(), epsilon)
}
}
#[cfg(feature = "approx")]
impl approx::RelativeEq for Dir3A {
fn default_max_relative() -> f32 {
f32::EPSILON
}
fn relative_eq(&self, other: &Self, epsilon: f32, max_relative: f32) -> bool {
self.as_ref()
.relative_eq(other.as_ref(), epsilon, max_relative)
}
}
#[cfg(feature = "approx")]
impl approx::UlpsEq for Dir3A {
fn default_max_ulps() -> u32 {
4
}
fn ulps_eq(&self, other: &Self, epsilon: f32, max_ulps: u32) -> bool {
self.as_ref().ulps_eq(other.as_ref(), epsilon, max_ulps)
}
}
#[cfg(test)]
mod tests {
use super::*;
use approx::assert_relative_eq;
#[test]
fn dir2_creation() {
assert_eq!(Dir2::new(Vec2::X * 12.5), Ok(Dir2::X));
assert_eq!(
Dir2::new(Vec2::new(0.0, 0.0)),
Err(InvalidDirectionError::Zero)
);
assert_eq!(
Dir2::new(Vec2::new(f32::INFINITY, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir2::new(Vec2::new(f32::NEG_INFINITY, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir2::new(Vec2::new(f32::NAN, 0.0)),
Err(InvalidDirectionError::NaN)
);
assert_eq!(Dir2::new_and_length(Vec2::X * 6.5), Ok((Dir2::X, 6.5)));
}
#[test]
fn dir2_slerp() {
assert_relative_eq!(
Dir2::X.slerp(Dir2::Y, 0.5),
Dir2::from_xy(0.5_f32.sqrt(), 0.5_f32.sqrt()).unwrap()
);
assert_eq!(Dir2::Y.slerp(Dir2::X, 0.0), Dir2::Y);
assert_relative_eq!(Dir2::X.slerp(Dir2::Y, 1.0), Dir2::Y);
assert_relative_eq!(
Dir2::Y.slerp(Dir2::X, 1.0 / 3.0),
Dir2::from_xy(0.5, 0.75_f32.sqrt()).unwrap()
);
assert_relative_eq!(
Dir2::X.slerp(Dir2::Y, 2.0 / 3.0),
Dir2::from_xy(0.5, 0.75_f32.sqrt()).unwrap()
);
}
#[test]
fn dir2_to_rotation2d() {
assert_relative_eq!(Dir2::EAST.rotation_to(Dir2::NORTH_EAST), Rot2::FRAC_PI_4);
assert_relative_eq!(Dir2::NORTH.rotation_from(Dir2::NORTH_EAST), Rot2::FRAC_PI_4);
assert_relative_eq!(Dir2::SOUTH.rotation_to_x(), Rot2::FRAC_PI_2);
assert_relative_eq!(Dir2::SOUTH.rotation_to_y(), Rot2::PI);
assert_relative_eq!(Dir2::NORTH_WEST.rotation_from_x(), Rot2::degrees(135.0));
assert_relative_eq!(Dir2::NORTH_WEST.rotation_from_y(), Rot2::FRAC_PI_4);
}
#[test]
fn dir3_creation() {
assert_eq!(Dir3::new(Vec3::X * 12.5), Ok(Dir3::X));
assert_eq!(
Dir3::new(Vec3::new(0.0, 0.0, 0.0)),
Err(InvalidDirectionError::Zero)
);
assert_eq!(
Dir3::new(Vec3::new(f32::INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir3::new(Vec3::new(f32::NEG_INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir3::new(Vec3::new(f32::NAN, 0.0, 0.0)),
Err(InvalidDirectionError::NaN)
);
assert_eq!(Dir3::new_and_length(Vec3::X * 6.5), Ok((Dir3::X, 6.5)));
// Test rotation
assert!(
(Quat::from_rotation_z(std::f32::consts::FRAC_PI_2) * Dir3::X)
.abs_diff_eq(Vec3::Y, 10e-6)
);
}
#[test]
fn dir3_slerp() {
assert_relative_eq!(
Dir3::X.slerp(Dir3::Y, 0.5),
Dir3::from_xyz(0.5f32.sqrt(), 0.5f32.sqrt(), 0.0).unwrap()
);
assert_relative_eq!(Dir3::Y.slerp(Dir3::Z, 0.0), Dir3::Y);
assert_relative_eq!(Dir3::Z.slerp(Dir3::X, 1.0), Dir3::X, epsilon = 0.000001);
assert_relative_eq!(
Dir3::X.slerp(Dir3::Z, 1.0 / 3.0),
Dir3::from_xyz(0.75f32.sqrt(), 0.0, 0.5).unwrap(),
epsilon = 0.000001
);
assert_relative_eq!(
Dir3::Z.slerp(Dir3::Y, 2.0 / 3.0),
Dir3::from_xyz(0.0, 0.75f32.sqrt(), 0.5).unwrap()
);
}
#[test]
fn dir3a_creation() {
assert_eq!(Dir3A::new(Vec3A::X * 12.5), Ok(Dir3A::X));
assert_eq!(
Dir3A::new(Vec3A::new(0.0, 0.0, 0.0)),
Err(InvalidDirectionError::Zero)
);
assert_eq!(
Dir3A::new(Vec3A::new(f32::INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir3A::new(Vec3A::new(f32::NEG_INFINITY, 0.0, 0.0)),
Err(InvalidDirectionError::Infinite)
);
assert_eq!(
Dir3A::new(Vec3A::new(f32::NAN, 0.0, 0.0)),
Err(InvalidDirectionError::NaN)
);
assert_eq!(Dir3A::new_and_length(Vec3A::X * 6.5), Ok((Dir3A::X, 6.5)));
// Test rotation
assert!(
(Quat::from_rotation_z(std::f32::consts::FRAC_PI_2) * Dir3A::X)
.abs_diff_eq(Vec3A::Y, 10e-6)
);
}
#[test]
fn dir3a_slerp() {
assert_relative_eq!(
Dir3A::X.slerp(Dir3A::Y, 0.5),
Dir3A::from_xyz(0.5f32.sqrt(), 0.5f32.sqrt(), 0.0).unwrap()
);
assert_relative_eq!(Dir3A::Y.slerp(Dir3A::Z, 0.0), Dir3A::Y);
assert_relative_eq!(Dir3A::Z.slerp(Dir3A::X, 1.0), Dir3A::X, epsilon = 0.000001);
assert_relative_eq!(
Dir3A::X.slerp(Dir3A::Z, 1.0 / 3.0),
Dir3A::from_xyz(0.75f32.sqrt(), 0.0, 0.5).unwrap(),
epsilon = 0.000001
);
assert_relative_eq!(
Dir3A::Z.slerp(Dir3A::Y, 2.0 / 3.0),
Dir3A::from_xyz(0.0, 0.75f32.sqrt(), 0.5).unwrap()
);
}
}